| 引用本文: | 吴庆祥,何春辉,刁淑贞,孙宁.考虑迟滞和传感器测量误差的气动柔顺打磨装置自适应控制[J].控制理论与应用,2026,43(5):951~960.[点击复制] |
| WU Qing-xiang,HE Chun-hui,DIAO Shun-zhen,SUN Ning.Adaptive control of pneumatic grinding devices considering hysteresis and sensor measurement errors[J].Control Theory & Applications,2026,43(5):951~960.[点击复制] |
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| 考虑迟滞和传感器测量误差的气动柔顺打磨装置自适应控制 |
| Adaptive control of pneumatic grinding devices considering hysteresis and sensor measurement errors |
| 摘要点击 509 全文点击 31 投稿时间：2024-07-24 修订日期：2025-11-21 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40391 |
| 2026,43(5):951-960 |
| 中文关键词 气动柔顺打磨 迟滞建模 迟滞逆模型 传感器测量误差 自适应控制 |
| 英文关键词 pneumatic compliant grinding hysteresis modeling hysteresis inverse model sensor measurement errors adaptive control |
| 基金项目 国家自然科学基金项目(52205019, 62373198), 广东省基础与应用基础研究基金自然科学基金项目(2023A1515012669), 机器人技术与系统国家重 点实验室开放基金项目(SKLRS–2023–KF–13)资助. |
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| 中文摘要 |
| 气动打磨方式以其较好的柔顺性在航空航天、金属加工等领域得到广泛应用. 然而, 复杂的迟滞非线性使
气动柔顺装置的精准打磨力控制充满挑战. 此外, 打磨作业环境温度多变、机械振动等因素极易导致传感器测量误
差, 导致系统控制精度降低. 针对上述问题, 本文提出了一种“迟滞建模+自适应控制”的框架, 在提高打磨精度的同
时, 实现对传感器测量误差和气动柔顺打磨装置迟滞等问题的有效处理. 具体来说, 首先, 考虑气动柔顺打磨装置
迟滞非线性, 分别建立基于不对称Prandtl–Ishlinskii算子和逆乘法结构的迟滞模型和逆模型. 基于此, 提出一种基于
动态面的自适应控制方法, 通过引入一阶滤波器避免微分求导导致测量误差放大的问题, 并利用自适应律实现对未
知参数的有效处理; 此外, 利用李雅普诺夫分析方法证明了系统的稳定性; 最后, 通过自建气动柔顺打磨装置实验
平台验证了所建立迟滞逆模型和所提控制方法的有效性. |
| 英文摘要 |
| Pneumatic grinding methods are widely used in fields such as aerospace and metal processing due to their
excellent compliance. However, the complex hysteresis nonlinearity of pneumatic compliant devices makes the precise
control of grinding force challenging. Additionally, factors such as varying operational temperatures and mechanical vibrations
can easily cause sensor measurement errors, reducing system control accuracy. To address these issues, this paper
proposes a “hysteresis modeling + adaptive control” framework to improve grinding accuracy while effectively handling
problems such as sensor measurement errors and the hysteresis of pneumatic compliant grinding devices. Specifically,
considering the hysteresis nonlinearity of pneumatic compliant grinding devices, a hysteresis model and an inverse model
are established based on the unparallel Prandtl-Ishlinskii operator and inverse multiplicative structure, respectively. Based
on this, a dynamic surface-based adaptive control method is proposed, which introduces a first-order filter to avoid measurement
error amplification caused by differentiation and utilizes adaptive laws to effectively handle unknown parameters.
Furthermore, Lyapunov analysis methods are adopted to demonstrate system stability. Finally, the effectiveness of the established
hysteresis inverse model and the proposed control method are verified through a self-built experimental platform
of pneumatic compliant grinding devices. |
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